Abstract

This paper presents a compliant end-effector that cuts soft tissues and senses the cutting forces. The end-effector is designed to have an upper threshold on cutting forces to facilitate safe handling of tissue during automated cutting. This is demonstrated with nonlinear finite element analysis and experimental results obtained by cutting inhomogeneous phantom tissue. The cutting forces are estimated using a vision-based technique that uses amplified elastic deformation of the compliant end-effector. We also demonstrate an immersive tele-operated tissue-cutting system together with a haptic device that gives real-time force feedback to the user.

(a) The points on the scalpel chosen to apply the force (Fc). (b) X-displacement characteristic of the end-effector for the cutting-force (Fc) indicating the reaction in the overall stiffness of the mechanism in the cutting direction. (c) Lift-off of the scalpel for the cutting-force indicating that different points on the scalpel retract depending on the cutting-force. (d) The close-up view (of the box) showing that the Y-displacement characteristic for the points d1-4 is different (although very subtle).

(a) A specimen to demonstrate lift-off-characteristic of the compliant end-effector. (b) Plot comparing the experimental, estimated and simulated values of the Y-displacement of tip of the scalpel. (c) Cutting profile of different points of the scalpel estimated using a priori curve.

(a) The compliant end-effector is moved against the load-cell to both demonstrate the force-limitation and as well as calibration. (b) Input force versus output displacement of the compliant cutter used for force-calibration.

Return to: A Compliant End-Effector to Passively Limit the Force in Tele-Operated Tissue-Cutting

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